Struct.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
package org.wpilib.util.struct;
 
import java.lang.reflect.Array;
import java.nio.ByteBuffer;

public interface Struct<T> {
  int BOOL_SIZE = 1;

  int INT8_SIZE = 1;

  int INT16_SIZE = 2;

  int INT32_SIZE = 4;

  int INT64_SIZE = 8;

  int FLOAT_SIZE = 4;

  int DOUBLE_SIZE = 8;

  Class<T> getTypeClass();

  String getTypeName();

  default String getTypeString() {
    return "struct:" + getTypeName();
  }

  int getSize();

  String getSchema();

  default Struct<?>[] getNested() {
    return new Struct<?>[] {};
  }

  T unpack(ByteBuffer bb);

  void pack(ByteBuffer bb, T value);

  default void unpackInto(T out, ByteBuffer bb) {
    throw new UnsupportedOperationException("object does not support unpackInto");
  }

  static <T> T[] unpackArray(ByteBuffer bb, int size, Struct<T> struct) {
    @SuppressWarnings("unchecked")
    T[] arr = (T[]) Array.newInstance(struct.getTypeClass(), size);
    for (int i = 0; i < arr.length; i++) {
      arr[i] = struct.unpack(bb);
    }
    return arr;
  }

  static double[] unpackDoubleArray(ByteBuffer bb, int size) {
    double[] arr = new double[size];
    for (int i = 0; i < size; i++) {
      arr[i] = bb.getDouble();
    }
    return arr;
  }

  static <T> void packArray(ByteBuffer bb, T[] arr, Struct<T> struct) {
    for (T obj : arr) {
      struct.pack(bb, obj);
    }
  }

  static void packArray(ByteBuffer bb, double[] arr) {
    for (double obj : arr) {
      bb.putDouble(obj);
    }
  }

  default boolean isImmutable() {
    return false;
  }

  default boolean isCloneable() {
    return false;
  }

  default T clone(T obj) throws CloneNotSupportedException {
    throw new CloneNotSupportedException();
  }
}